bugobliterator
7 years ago
committed by
Andrew Tridgell
4 changed files with 1145 additions and 1 deletions
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|
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#!/usr/bin/env python |
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# encoding: utf-8 |
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|
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""" |
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Waf tool for PX4 build |
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""" |
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from waflib import Errors, Logs, Task, Utils |
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from waflib.TaskGen import after_method, before_method, feature |
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import os |
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import shutil |
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import sys |
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import re |
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_dynamic_env_data = {} |
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def _load_dynamic_env_data(bld): |
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bldnode = bld.bldnode.make_node('modules/ChibiOS') |
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tmp_str = bldnode.find_node('include_dirs').read() |
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tmp_str = tmp_str.replace(';\n','') |
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if 'include_dirs' == 'include_dirs': |
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tmp_str = tmp_str.replace('-I','') #remove existing -I flags |
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_dynamic_env_data['include_dirs'] = re.split('; ', tmp_str) |
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print _dynamic_env_data['include_dirs'] |
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@feature('ch_ap_library', 'ch_ap_program') |
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@before_method('process_source') |
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def ch_dynamic_env(self): |
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# The generated files from configuration possibly don't exist if it's just |
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# a list command (TODO: figure out a better way to address that). |
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if self.bld.cmd == 'list': |
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return |
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if not _dynamic_env_data: |
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_load_dynamic_env_data(self.bld) |
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self.use += ' ch' |
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self.env.append_value('INCLUDES', _dynamic_env_data['include_dirs']) |
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class upload_fw(Task.Task): |
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color='BLUE' |
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always_run = True |
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def run(self): |
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upload_tools = self.env.get_flat('UPLOAD_TOOLS') |
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src = self.inputs[0] |
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return self.exec_command("python {}/px_uploader.py --port /dev/serial/by-id/usb-3D*,/dev/serial/by-id/usb-Ardu* \ |
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--baud-bootloader 115200 {}".format( |
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upload_tools, src)) |
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def exec_command(self, cmd, **kw): |
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kw['stdout'] = sys.stdout |
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return super(upload_fw, self).exec_command(cmd, **kw) |
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def keyword(self): |
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return "Uploading" |
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|
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class generate_fw(Task.Task): |
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color='CYAN' |
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run_str='${OBJCOPY} -O binary ${SRC} ${SRC}.bin && \ |
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python ${UPLOAD_TOOLS}/px_mkfw.py --image ${SRC}.bin \ |
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--prototype ${BUILDROOT}/apj.prototype > ${TGT}' |
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always_run = True |
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def keyword(self): |
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return "Generating" |
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def __str__(self): |
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return self.outputs[0].path_from(self.generator.bld.bldnode) |
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|
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class make_chibios_task(Task.Task): |
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color = 'CYAN' |
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always_run = True |
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def run(self): |
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build_dir = self.env.get_flat('BUILDDIR') |
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ch_root = self.env.get_flat('CHIBIOS') |
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make = self.env.get_flat('MAKE') |
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ap_hal = self.env.get_flat('AP_HAL') |
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brd_type = self.env.get_flat('BOARD') |
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return self.exec_command("BUILDDIR='{}' CHIBIOS='{}' AP_HAL={}\ |
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'{}' lib -f {}/hwdef/{}/chibios_board.mk".format( |
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build_dir, ch_root, ap_hal, make, ap_hal, brd_type |
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)) |
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def exec_command(self, cmd, **kw): |
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kw['stdout'] = sys.stdout |
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return super(make_chibios_task, self).exec_command(cmd, **kw) |
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def keyword(self): |
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return "Generating" |
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def __str__(self): |
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return self.outputs[0].path_from(self.generator.bld.bldnode) |
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|
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@feature('ch_ap_program') |
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@after_method('process_source') |
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def chibios_firmware(self): |
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self.link_task.always_run = True |
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make_tsk = self.create_task('make_chibios_task', |
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group='dynamic_sources', |
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tgt=self.bld.bldnode.find_or_declare('modules/ChibiOS/libch.a')) |
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make_tsk.env.BUILDDIR = self.bld.env.BUILDDIR |
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make_tsk.env.CHIBIOS = self.bld.env.CH_ROOT |
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make_tsk.env.AP_HAL = self.bld.env.AP_HAL_ROOT |
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link_output = self.link_task.outputs[0] |
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self.objcopy_target = self.bld.bldnode.find_or_declare('bin/' + link_output.change_ext('.apj').name) |
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generate_fw_task = self.create_task('generate_fw', |
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src=link_output, |
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tgt=self.objcopy_target) |
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generate_fw_task.set_run_after(self.link_task) |
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if self.bld.options.upload: |
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_upload_task = self.create_task('upload_fw', |
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src=self.objcopy_target) |
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_upload_task.set_run_after(generate_fw_task) |
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|
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def configure(cfg): |
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cfg.find_program('make', var='MAKE') |
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#cfg.objcopy = cfg.find_program('%s-%s'%(cfg.env.TOOLCHAIN,'objcopy'), var='OBJCOPY', mandatory=True) |
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cfg.find_program('arm-none-eabi-objcopy', var='OBJCOPY') |
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env = cfg.env |
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bldnode = cfg.bldnode.make_node(cfg.variant) |
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def srcpath(path): |
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return cfg.srcnode.make_node(path).abspath() |
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def bldpath(path): |
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return bldnode.make_node(path).abspath() |
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env.AP_PROGRAM_FEATURES += ['ch_ap_program'] |
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kw = env.AP_LIBRARIES_OBJECTS_KW |
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kw['features'] = Utils.to_list(kw.get('features', [])) + ['ch_ap_library'] |
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env.CH_ROOT = srcpath('modules/ChibiOS') |
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env.AP_HAL_ROOT = srcpath('libraries/AP_HAL_ChibiOS') |
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env.BUILDDIR = bldpath('modules/ChibiOS') |
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env.BUILDROOT = bldpath('') |
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env.PT_DIR = srcpath('Tools/ardupilotwaf/chibios/image') |
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env.UPLOAD_TOOLS = srcpath('Tools/ardupilotwaf') |
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env.SERIAL_PORT = srcpath('/dev/serial/by-id/*_STLink*') |
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def build(bld): |
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bld( |
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source='libraries/AP_HAL_ChibiOS/hwdef/%s/hwdef.dat' % bld.env.get_flat('BOARD'), |
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rule='python ${AP_HAL_ROOT}/hwdef/scripts/chibios_hwdef.py -D ${BUILDROOT} ${AP_HAL_ROOT}/hwdef/${BOARD}/hwdef.dat', |
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group='dynamic_sources', |
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target=['hwdef.h', 'apj.prototype'] |
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) |
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bld( |
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rule='touch Makefile && BUILDDIR=${BUILDDIR} CHIBIOS=${CH_ROOT} AP_HAL=${AP_HAL_ROOT} ${MAKE} pass -f ${AP_HAL_ROOT}/hwdef/${BOARD}/chibios_board.mk', |
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group='dynamic_sources', |
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target='modules/ChibiOS/include_dirs' |
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) |
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bld.env.LIB += ['ch'] |
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bld.env.LIBPATH += ['modules/ChibiOS/'] |
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wraplist = ['strerror_r'] |
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for w in wraplist: |
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bld.env.LINKFLAGS += ['-Wl,--wrap,%s' % w] |
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# @feature('ch_ap_program') |
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# @after_method('process_source') |
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# def chibios_firmware(self): |
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# fw_task = self.create_task('make_chibios', self.bld.bldnode.make_node(self.program_dir), self.bld.bldnode.make_node(self.program_name)) |
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# fw_task.set_run_after(self.link_task) |
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# fw_task.env.env = dict(os.environ) |
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# fw_task.env.env['BUILDDIR'] = self.bld.bldnode.find_or_declare('modules/ChibiOS').abspath() |
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# fw_task.env.env['CH_ROOT'] = self.bld.srcnode.make_node('modules/ChibiOS').abspath() |
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# fw_task.env['AP_HAL'] = self.bld.srcnode.make_node('libraries/AP_HAL_ChibiOS').abspath() |
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@ -0,0 +1,123 @@
@@ -0,0 +1,123 @@
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#!/usr/bin/env python |
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############################################################################ |
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# |
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# Copyright (C) 2012, 2013 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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# |
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# PX4 firmware image generator |
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# |
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# The PX4 firmware file is a JSON-encoded Python object, containing |
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# metadata fields and a zlib-compressed base64-encoded firmware image. |
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# |
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import sys |
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import argparse |
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import json |
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import base64 |
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import zlib |
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import time |
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import subprocess |
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# |
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# Construct a basic firmware description |
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# |
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def mkdesc(): |
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proto = {} |
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proto['magic'] = "PX4FWv1" |
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proto['board_id'] = 0 |
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proto['board_revision'] = 0 |
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proto['version'] = "" |
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proto['summary'] = "" |
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proto['description'] = "" |
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proto['git_identity'] = "" |
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proto['build_time'] = 0 |
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proto['image'] = bytes() |
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proto['image_size'] = 0 |
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return proto |
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# Parse commandline |
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parser = argparse.ArgumentParser(description="Firmware generator for the PX autopilot system.") |
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parser.add_argument("--prototype", action="store", help="read a prototype description from a file") |
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parser.add_argument("--board_id", action="store", help="set the board ID required") |
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parser.add_argument("--board_revision", action="store", help="set the board revision required") |
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parser.add_argument("--version", action="store", help="set a version string") |
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parser.add_argument("--summary", action="store", help="set a brief description") |
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parser.add_argument("--description", action="store", help="set a longer description") |
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parser.add_argument("--git_identity", action="store", help="the working directory to check for git identity") |
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parser.add_argument("--parameter_xml", action="store", help="the parameters.xml file") |
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parser.add_argument("--airframe_xml", action="store", help="the airframes.xml file") |
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parser.add_argument("--image", action="store", help="the firmware image") |
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args = parser.parse_args() |
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# Fetch the firmware descriptor prototype if specified |
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if args.prototype != None: |
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f = open(args.prototype,"r") |
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desc = json.load(f) |
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f.close() |
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else: |
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desc = mkdesc() |
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desc['build_time'] = int(time.time()) |
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if args.board_id != None: |
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desc['board_id'] = int(args.board_id) |
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if args.board_revision != None: |
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desc['board_revision'] = int(args.board_revision) |
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if args.version != None: |
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desc['version'] = str(args.version) |
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if args.summary != None: |
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desc['summary'] = str(args.summary) |
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if args.description != None: |
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desc['description'] = str(args.description) |
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if args.git_identity != None: |
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cmd = " ".join(["git", "--git-dir", args.git_identity + "/.git", "describe", "--always", "--dirty"]) |
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p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout |
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desc['git_identity'] = str(p.read().strip()) |
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p.close() |
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if args.parameter_xml != None: |
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f = open(args.parameter_xml, "rb") |
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bytes = f.read() |
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desc['parameter_xml_size'] = len(bytes) |
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desc['parameter_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') |
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desc['mav_autopilot'] = 12 # 12 = MAV_AUTOPILOT_PX4 |
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if args.airframe_xml != None: |
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f = open(args.airframe_xml, "rb") |
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bytes = f.read() |
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desc['airframe_xml_size'] = len(bytes) |
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desc['airframe_xml'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') |
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if args.image != None: |
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f = open(args.image, "rb") |
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bytes = f.read() |
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desc['image_size'] = len(bytes) |
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desc['image'] = base64.b64encode(zlib.compress(bytes,9)).decode('utf-8') |
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print(json.dumps(desc, indent=4)) |
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@ -0,0 +1,724 @@
@@ -0,0 +1,724 @@
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#!/usr/bin/env python |
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############################################################################ |
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# |
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# Copyright (c) 2012-2017 PX4 Development Team. All rights reserved. |
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# |
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# Redistribution and use in source and binary forms, with or without |
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# modification, are permitted provided that the following conditions |
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# are met: |
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# |
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# 1. Redistributions of source code must retain the above copyright |
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# notice, this list of conditions and the following disclaimer. |
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# 2. Redistributions in binary form must reproduce the above copyright |
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# notice, this list of conditions and the following disclaimer in |
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# the documentation and/or other materials provided with the |
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# distribution. |
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# 3. Neither the name PX4 nor the names of its contributors may be |
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# used to endorse or promote products derived from this software |
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# without specific prior written permission. |
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# |
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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# POSSIBILITY OF SUCH DAMAGE. |
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# |
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############################################################################ |
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|
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# |
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# Serial firmware uploader for the PX4FMU bootloader |
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# |
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# The PX4 firmware file is a JSON-encoded Python object, containing |
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# metadata fields and a zlib-compressed base64-encoded firmware image. |
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# |
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# The uploader uses the following fields from the firmware file: |
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# |
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# image |
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# The firmware that will be uploaded. |
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# image_size |
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# The size of the firmware in bytes. |
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# board_id |
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# The board for which the firmware is intended. |
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# board_revision |
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# Currently only used for informational purposes. |
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# |
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|
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# for python2.7 compatibility |
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from __future__ import print_function |
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|
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import sys |
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import argparse |
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import binascii |
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import serial |
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import struct |
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import json |
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import zlib |
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import base64 |
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import time |
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import array |
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import os |
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|
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from sys import platform as _platform |
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|
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# Detect python version |
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if sys.version_info[0] < 3: |
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runningPython3 = False |
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else: |
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runningPython3 = True |
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|
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class firmware(object): |
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'''Loads a firmware file''' |
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|
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desc = {} |
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image = bytes() |
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crctab = array.array('I', [ |
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0x00000000, 0x77073096, 0xee0e612c, 0x990951ba, 0x076dc419, 0x706af48f, 0xe963a535, 0x9e6495a3, |
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0x0edb8832, 0x79dcb8a4, 0xe0d5e91e, 0x97d2d988, 0x09b64c2b, 0x7eb17cbd, 0xe7b82d07, 0x90bf1d91, |
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0x1db71064, 0x6ab020f2, 0xf3b97148, 0x84be41de, 0x1adad47d, 0x6ddde4eb, 0xf4d4b551, 0x83d385c7, |
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0x136c9856, 0x646ba8c0, 0xfd62f97a, 0x8a65c9ec, 0x14015c4f, 0x63066cd9, 0xfa0f3d63, 0x8d080df5, |
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0x3b6e20c8, 0x4c69105e, 0xd56041e4, 0xa2677172, 0x3c03e4d1, 0x4b04d447, 0xd20d85fd, 0xa50ab56b, |
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0x35b5a8fa, 0x42b2986c, 0xdbbbc9d6, 0xacbcf940, 0x32d86ce3, 0x45df5c75, 0xdcd60dcf, 0xabd13d59, |
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0x26d930ac, 0x51de003a, 0xc8d75180, 0xbfd06116, 0x21b4f4b5, 0x56b3c423, 0xcfba9599, 0xb8bda50f, |
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0x2802b89e, 0x5f058808, 0xc60cd9b2, 0xb10be924, 0x2f6f7c87, 0x58684c11, 0xc1611dab, 0xb6662d3d, |
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0x76dc4190, 0x01db7106, 0x98d220bc, 0xefd5102a, 0x71b18589, 0x06b6b51f, 0x9fbfe4a5, 0xe8b8d433, |
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0x7807c9a2, 0x0f00f934, 0x9609a88e, 0xe10e9818, 0x7f6a0dbb, 0x086d3d2d, 0x91646c97, 0xe6635c01, |
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0x6b6b51f4, 0x1c6c6162, 0x856530d8, 0xf262004e, 0x6c0695ed, 0x1b01a57b, 0x8208f4c1, 0xf50fc457, |
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0x65b0d9c6, 0x12b7e950, 0x8bbeb8ea, 0xfcb9887c, 0x62dd1ddf, 0x15da2d49, 0x8cd37cf3, 0xfbd44c65, |
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0x4db26158, 0x3ab551ce, 0xa3bc0074, 0xd4bb30e2, 0x4adfa541, 0x3dd895d7, 0xa4d1c46d, 0xd3d6f4fb, |
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0x4369e96a, 0x346ed9fc, 0xad678846, 0xda60b8d0, 0x44042d73, 0x33031de5, 0xaa0a4c5f, 0xdd0d7cc9, |
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0x5005713c, 0x270241aa, 0xbe0b1010, 0xc90c2086, 0x5768b525, 0x206f85b3, 0xb966d409, 0xce61e49f, |
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0x5edef90e, 0x29d9c998, 0xb0d09822, 0xc7d7a8b4, 0x59b33d17, 0x2eb40d81, 0xb7bd5c3b, 0xc0ba6cad, |
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0xedb88320, 0x9abfb3b6, 0x03b6e20c, 0x74b1d29a, 0xead54739, 0x9dd277af, 0x04db2615, 0x73dc1683, |
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0xe3630b12, 0x94643b84, 0x0d6d6a3e, 0x7a6a5aa8, 0xe40ecf0b, 0x9309ff9d, 0x0a00ae27, 0x7d079eb1, |
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0xf00f9344, 0x8708a3d2, 0x1e01f268, 0x6906c2fe, 0xf762575d, 0x806567cb, 0x196c3671, 0x6e6b06e7, |
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0xfed41b76, 0x89d32be0, 0x10da7a5a, 0x67dd4acc, 0xf9b9df6f, 0x8ebeeff9, 0x17b7be43, 0x60b08ed5, |
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0xd6d6a3e8, 0xa1d1937e, 0x38d8c2c4, 0x4fdff252, 0xd1bb67f1, 0xa6bc5767, 0x3fb506dd, 0x48b2364b, |
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0xd80d2bda, 0xaf0a1b4c, 0x36034af6, 0x41047a60, 0xdf60efc3, 0xa867df55, 0x316e8eef, 0x4669be79, |
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0xcb61b38c, 0xbc66831a, 0x256fd2a0, 0x5268e236, 0xcc0c7795, 0xbb0b4703, 0x220216b9, 0x5505262f, |
||||
0xc5ba3bbe, 0xb2bd0b28, 0x2bb45a92, 0x5cb36a04, 0xc2d7ffa7, 0xb5d0cf31, 0x2cd99e8b, 0x5bdeae1d, |
||||
0x9b64c2b0, 0xec63f226, 0x756aa39c, 0x026d930a, 0x9c0906a9, 0xeb0e363f, 0x72076785, 0x05005713, |
||||
0x95bf4a82, 0xe2b87a14, 0x7bb12bae, 0x0cb61b38, 0x92d28e9b, 0xe5d5be0d, 0x7cdcefb7, 0x0bdbdf21, |
||||
0x86d3d2d4, 0xf1d4e242, 0x68ddb3f8, 0x1fda836e, 0x81be16cd, 0xf6b9265b, 0x6fb077e1, 0x18b74777, |
||||
0x88085ae6, 0xff0f6a70, 0x66063bca, 0x11010b5c, 0x8f659eff, 0xf862ae69, 0x616bffd3, 0x166ccf45, |
||||
0xa00ae278, 0xd70dd2ee, 0x4e048354, 0x3903b3c2, 0xa7672661, 0xd06016f7, 0x4969474d, 0x3e6e77db, |
||||
0xaed16a4a, 0xd9d65adc, 0x40df0b66, 0x37d83bf0, 0xa9bcae53, 0xdebb9ec5, 0x47b2cf7f, 0x30b5ffe9, |
||||
0xbdbdf21c, 0xcabac28a, 0x53b39330, 0x24b4a3a6, 0xbad03605, 0xcdd70693, 0x54de5729, 0x23d967bf, |
||||
0xb3667a2e, 0xc4614ab8, 0x5d681b02, 0x2a6f2b94, 0xb40bbe37, 0xc30c8ea1, 0x5a05df1b, 0x2d02ef8d]) |
||||
crcpad = bytearray(b'\xff\xff\xff\xff') |
||||
|
||||
def __init__(self, path): |
||||
|
||||
# read the file |
||||
f = open(path, "r") |
||||
self.desc = json.load(f) |
||||
f.close() |
||||
|
||||
self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image']))) |
||||
|
||||
# pad image to 4-byte length |
||||
while ((len(self.image) % 4) != 0): |
||||
self.image.append('\xff') |
||||
|
||||
def property(self, propname): |
||||
return self.desc[propname] |
||||
|
||||
def __crc32(self, bytes, state): |
||||
for byte in bytes: |
||||
index = (state ^ byte) & 0xff |
||||
state = self.crctab[index] ^ (state >> 8) |
||||
return state |
||||
|
||||
def crc(self, padlen): |
||||
state = self.__crc32(self.image, int(0)) |
||||
for i in range(len(self.image), (padlen - 1), 4): |
||||
state = self.__crc32(self.crcpad, state) |
||||
return state |
||||
|
||||
|
||||
class uploader(object): |
||||
'''Uploads a firmware file to the PX FMU bootloader''' |
||||
|
||||
# protocol bytes |
||||
INSYNC = b'\x12' |
||||
EOC = b'\x20' |
||||
|
||||
# reply bytes |
||||
OK = b'\x10' |
||||
FAILED = b'\x11' |
||||
INVALID = b'\x13' # rev3+ |
||||
BAD_SILICON_REV = b'\x14' # rev5+ |
||||
|
||||
# command bytes |
||||
NOP = b'\x00' # guaranteed to be discarded by the bootloader |
||||
GET_SYNC = b'\x21' |
||||
GET_DEVICE = b'\x22' |
||||
CHIP_ERASE = b'\x23' |
||||
CHIP_VERIFY = b'\x24' # rev2 only |
||||
PROG_MULTI = b'\x27' |
||||
READ_MULTI = b'\x28' # rev2 only |
||||
GET_CRC = b'\x29' # rev3+ |
||||
GET_OTP = b'\x2a' # rev4+ , get a word from OTP area |
||||
GET_SN = b'\x2b' # rev4+ , get a word from SN area |
||||
GET_CHIP = b'\x2c' # rev5+ , get chip version |
||||
SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay |
||||
GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII |
||||
MAX_DES_LENGTH = 20 |
||||
|
||||
REBOOT = b'\x30' |
||||
SET_BAUD = b'\x33' # set baud |
||||
|
||||
INFO_BL_REV = b'\x01' # bootloader protocol revision |
||||
BL_REV_MIN = 2 # minimum supported bootloader protocol |
||||
BL_REV_MAX = 5 # maximum supported bootloader protocol |
||||
INFO_BOARD_ID = b'\x02' # board type |
||||
INFO_BOARD_REV = b'\x03' # board revision |
||||
INFO_FLASH_SIZE = b'\x04' # max firmware size in bytes |
||||
|
||||
PROG_MULTI_MAX = 252 # protocol max is 255, must be multiple of 4 |
||||
READ_MULTI_MAX = 252 # protocol max is 255 |
||||
|
||||
NSH_INIT = bytearray(b'\x0d\x0d\x0d') |
||||
NSH_REBOOT_BL = b"reboot -b\n" |
||||
NSH_REBOOT = b"reboot\n" |
||||
MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b') |
||||
MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37') |
||||
|
||||
def __init__(self, portname, baudrate_bootloader, baudrate_flightstack, baudrate_bootloader_flash=None): |
||||
# open the port, keep the default timeout short so we can poll quickly |
||||
self.port = serial.Serial(portname, baudrate_bootloader, timeout=1.0) |
||||
self.otp = b'' |
||||
self.sn = b'' |
||||
self.baudrate_bootloader = baudrate_bootloader |
||||
if baudrate_bootloader_flash is not None: |
||||
self.baudrate_bootloader_flash = baudrate_bootloader_flash |
||||
else: |
||||
self.baudrate_bootloader_flash = self.baudrate_bootloader |
||||
self.baudrate_flightstack = baudrate_flightstack |
||||
self.baudrate_flightstack_idx = -1 |
||||
|
||||
def close(self): |
||||
if self.port is not None: |
||||
self.port.close() |
||||
|
||||
def open(self): |
||||
timeout = time.time() + 0.2 |
||||
|
||||
# Attempt to open the port while it exists and until timeout occurs |
||||
while self.port is not None: |
||||
portopen = True |
||||
try: |
||||
portopen = self.port.is_open |
||||
except AttributeError: |
||||
portopen = self.port.isOpen() |
||||
|
||||
if not portopen and time.time() < timeout: |
||||
try: |
||||
self.port.open() |
||||
except OSError: |
||||
# wait for the port to be ready |
||||
time.sleep(0.04) |
||||
except serial.SerialException: |
||||
# if open fails, try again later |
||||
time.sleep(0.04) |
||||
|
||||
else: |
||||
break |
||||
|
||||
def __send(self, c): |
||||
# print("send " + binascii.hexlify(c)) |
||||
self.port.write(c) |
||||
|
||||
def __recv(self, count=1): |
||||
c = self.port.read(count) |
||||
if len(c) < 1: |
||||
raise RuntimeError("timeout waiting for data (%u bytes)" % count) |
||||
# print("recv " + binascii.hexlify(c)) |
||||
return c |
||||
|
||||
def __recv_int(self): |
||||
raw = self.__recv(4) |
||||
val = struct.unpack("<I", raw) |
||||
return val[0] |
||||
|
||||
def __getSync(self): |
||||
self.port.flush() |
||||
c = bytes(self.__recv()) |
||||
if c != self.INSYNC: |
||||
raise RuntimeError("unexpected %s instead of INSYNC" % c) |
||||
c = self.__recv() |
||||
if c == self.INVALID: |
||||
raise RuntimeError("bootloader reports INVALID OPERATION") |
||||
if c == self.FAILED: |
||||
raise RuntimeError("bootloader reports OPERATION FAILED") |
||||
if c != self.OK: |
||||
raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c)) |
||||
|
||||
# attempt to get back into sync with the bootloader |
||||
def __sync(self): |
||||
# send a stream of ignored bytes longer than the longest possible conversation |
||||
# that we might still have in progress |
||||
# self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2)) |
||||
self.port.flushInput() |
||||
self.__send(uploader.GET_SYNC + |
||||
uploader.EOC) |
||||
self.__getSync() |
||||
|
||||
def __trySync(self): |
||||
try: |
||||
self.port.flush() |
||||
if (self.__recv() != self.INSYNC): |
||||
# print("unexpected 0x%x instead of INSYNC" % ord(c)) |
||||
return False |
||||
c = self.__recv() |
||||
if (c == self.BAD_SILICON_REV): |
||||
raise NotImplementedError() |
||||
if (c != self.OK): |
||||
# print("unexpected 0x%x instead of OK" % ord(c)) |
||||
return False |
||||
return True |
||||
|
||||
except NotImplementedError: |
||||
raise RuntimeError("Programing not supported for this version of silicon!\n" |
||||
"See https://pixhawk.org/help/errata") |
||||
except RuntimeError: |
||||
# timeout, no response yet |
||||
return False |
||||
|
||||
# send the GET_DEVICE command and wait for an info parameter |
||||
def __getInfo(self, param): |
||||
self.__send(uploader.GET_DEVICE + param + uploader.EOC) |
||||
value = self.__recv_int() |
||||
self.__getSync() |
||||
return value |
||||
|
||||
# send the GET_OTP command and wait for an info parameter |
||||
def __getOTP(self, param): |
||||
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. |
||||
self.__send(uploader.GET_OTP + t + uploader.EOC) |
||||
value = self.__recv(4) |
||||
self.__getSync() |
||||
return value |
||||
|
||||
# send the GET_SN command and wait for an info parameter |
||||
def __getSN(self, param): |
||||
t = struct.pack("I", param) # int param as 32bit ( 4 byte ) char array. |
||||
self.__send(uploader.GET_SN + t + uploader.EOC) |
||||
value = self.__recv(4) |
||||
self.__getSync() |
||||
return value |
||||
|
||||
# send the GET_CHIP command |
||||
def __getCHIP(self): |
||||
self.__send(uploader.GET_CHIP + uploader.EOC) |
||||
value = self.__recv_int() |
||||
self.__getSync() |
||||
return value |
||||
|
||||
# send the GET_CHIP command |
||||
def __getCHIPDes(self): |
||||
self.__send(uploader.GET_CHIP_DES + uploader.EOC) |
||||
length = self.__recv_int() |
||||
value = self.__recv(length) |
||||
self.__getSync() |
||||
peices = value.split(",") |
||||
return peices |
||||
|
||||
def __drawProgressBar(self, label, progress, maxVal): |
||||
if maxVal < progress: |
||||
progress = maxVal |
||||
|
||||
percent = (float(progress) / float(maxVal)) * 100.0 |
||||
|
||||
sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent)) |
||||
sys.stdout.flush() |
||||
|
||||
# send the CHIP_ERASE command and wait for the bootloader to become ready |
||||
def __erase(self, label): |
||||
print("\n", end='') |
||||
self.__send(uploader.CHIP_ERASE + |
||||
uploader.EOC) |
||||
|
||||
# erase is very slow, give it 20s |
||||
deadline = time.time() + 20.0 |
||||
while time.time() < deadline: |
||||
|
||||
# Draw progress bar (erase usually takes about 9 seconds to complete) |
||||
estimatedTimeRemaining = deadline-time.time() |
||||
if estimatedTimeRemaining >= 9.0: |
||||
self.__drawProgressBar(label, 20.0-estimatedTimeRemaining, 9.0) |
||||
else: |
||||
self.__drawProgressBar(label, 10.0, 10.0) |
||||
sys.stdout.write(" (timeout: %d seconds) " % int(deadline-time.time())) |
||||
sys.stdout.flush() |
||||
|
||||
if self.__trySync(): |
||||
self.__drawProgressBar(label, 10.0, 10.0) |
||||
return |
||||
|
||||
raise RuntimeError("timed out waiting for erase") |
||||
|
||||
# send a PROG_MULTI command to write a collection of bytes |
||||
def __program_multi(self, data): |
||||
|
||||
if runningPython3: |
||||
length = len(data).to_bytes(1, byteorder='big') |
||||
else: |
||||
length = chr(len(data)) |
||||
|
||||
self.__send(uploader.PROG_MULTI) |
||||
self.__send(length) |
||||
self.__send(data) |
||||
self.__send(uploader.EOC) |
||||
self.__getSync() |
||||
|
||||
# verify multiple bytes in flash |
||||
def __verify_multi(self, data): |
||||
|
||||
if runningPython3: |
||||
length = len(data).to_bytes(1, byteorder='big') |
||||
else: |
||||
length = chr(len(data)) |
||||
|
||||
self.__send(uploader.READ_MULTI) |
||||
self.__send(length) |
||||
self.__send(uploader.EOC) |
||||
self.port.flush() |
||||
programmed = self.__recv(len(data)) |
||||
if programmed != data: |
||||
print("got " + binascii.hexlify(programmed)) |
||||
print("expect " + binascii.hexlify(data)) |
||||
return False |
||||
self.__getSync() |
||||
return True |
||||
|
||||
# send the reboot command |
||||
def __reboot(self): |
||||
self.__send(uploader.REBOOT + |
||||
uploader.EOC) |
||||
self.port.flush() |
||||
|
||||
# v3+ can report failure if the first word flash fails |
||||
if self.bl_rev >= 3: |
||||
self.__getSync() |
||||
|
||||
# split a sequence into a list of size-constrained pieces |
||||
def __split_len(self, seq, length): |
||||
return [seq[i:i+length] for i in range(0, len(seq), length)] |
||||
|
||||
# upload code |
||||
def __program(self, label, fw): |
||||
print("\n", end='') |
||||
code = fw.image |
||||
groups = self.__split_len(code, uploader.PROG_MULTI_MAX) |
||||
|
||||
uploadProgress = 0 |
||||
for bytes in groups: |
||||
self.__program_multi(bytes) |
||||
|
||||
# Print upload progress (throttled, so it does not delay upload progress) |
||||
uploadProgress += 1 |
||||
if uploadProgress % 256 == 0: |
||||
self.__drawProgressBar(label, uploadProgress, len(groups)) |
||||
self.__drawProgressBar(label, 100, 100) |
||||
|
||||
# verify code |
||||
def __verify_v2(self, label, fw): |
||||
print("\n", end='') |
||||
self.__send(uploader.CHIP_VERIFY + |
||||
uploader.EOC) |
||||
self.__getSync() |
||||
code = fw.image |
||||
groups = self.__split_len(code, uploader.READ_MULTI_MAX) |
||||
verifyProgress = 0 |
||||
for bytes in groups: |
||||
verifyProgress += 1 |
||||
if verifyProgress % 256 == 0: |
||||
self.__drawProgressBar(label, verifyProgress, len(groups)) |
||||
if (not self.__verify_multi(bytes)): |
||||
raise RuntimeError("Verification failed") |
||||
self.__drawProgressBar(label, 100, 100) |
||||
|
||||
def __verify_v3(self, label, fw): |
||||
print("\n", end='') |
||||
self.__drawProgressBar(label, 1, 100) |
||||
expect_crc = fw.crc(self.fw_maxsize) |
||||
self.__send(uploader.GET_CRC + |
||||
uploader.EOC) |
||||
report_crc = self.__recv_int() |
||||
self.__getSync() |
||||
if report_crc != expect_crc: |
||||
print("Expected 0x%x" % expect_crc) |
||||
print("Got 0x%x" % report_crc) |
||||
raise RuntimeError("Program CRC failed") |
||||
self.__drawProgressBar(label, 100, 100) |
||||
|
||||
def __set_boot_delay(self, boot_delay): |
||||
self.__send(uploader.SET_BOOT_DELAY + |
||||
struct.pack("b", boot_delay) + |
||||
uploader.EOC) |
||||
self.__getSync() |
||||
|
||||
def __setbaud(self, baud): |
||||
self.__send(uploader.SET_BAUD + |
||||
struct.pack("I", baud) + |
||||
uploader.EOC) |
||||
self.__getSync() |
||||
|
||||
# get basic data about the board |
||||
def identify(self): |
||||
# make sure we are in sync before starting |
||||
self.__sync() |
||||
|
||||
# get the bootloader protocol ID first |
||||
self.bl_rev = self.__getInfo(uploader.INFO_BL_REV) |
||||
if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX): |
||||
print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV) |
||||
raise RuntimeError("Bootloader protocol mismatch") |
||||
|
||||
self.board_type = self.__getInfo(uploader.INFO_BOARD_ID) |
||||
self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV) |
||||
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE) |
||||
|
||||
# upload the firmware |
||||
def upload(self, fw, force=False, boot_delay=None): |
||||
# Make sure we are doing the right thing |
||||
if self.board_type != fw.property('board_id'): |
||||
msg = "Firmware not suitable for this board (board_type=%u board_id=%u)" % ( |
||||
self.board_type, fw.property('board_id')) |
||||
print("WARNING: %s" % msg) |
||||
if force: |
||||
print("FORCED WRITE, FLASHING ANYWAY!") |
||||
else: |
||||
raise IOError(msg) |
||||
if self.fw_maxsize < fw.property('image_size'): |
||||
raise RuntimeError("Firmware image is too large for this board") |
||||
|
||||
# OTP added in v4: |
||||
if self.bl_rev > 3: |
||||
for byte in range(0, 32*6, 4): |
||||
x = self.__getOTP(byte) |
||||
self.otp = self.otp + x |
||||
print(binascii.hexlify(x).decode('Latin-1') + ' ', end='') |
||||
# see src/modules/systemlib/otp.h in px4 code: |
||||
self.otp_id = self.otp[0:4] |
||||
self.otp_idtype = self.otp[4:5] |
||||
self.otp_vid = self.otp[8:4:-1] |
||||
self.otp_pid = self.otp[12:8:-1] |
||||
self.otp_coa = self.otp[32:160] |
||||
# show user: |
||||
try: |
||||
print("type: " + self.otp_id.decode('Latin-1')) |
||||
print("idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1')) |
||||
print("vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1')) |
||||
print("pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1')) |
||||
print("coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1')) |
||||
print("sn: ", end='') |
||||
for byte in range(0, 12, 4): |
||||
x = self.__getSN(byte) |
||||
x = x[::-1] # reverse the bytes |
||||
self.sn = self.sn + x |
||||
print(binascii.hexlify(x).decode('Latin-1'), end='') # show user |
||||
print('') |
||||
print("chip: %08x" % self.__getCHIP()) |
||||
if (self.bl_rev >= 5): |
||||
des = self.__getCHIPDes() |
||||
if (len(des) == 2): |
||||
print("family: %s" % des[0]) |
||||
print("revision: %s" % des[1]) |
||||
print("flash %d" % self.fw_maxsize) |
||||
except Exception: |
||||
# ignore bad character encodings |
||||
pass |
||||
|
||||
if self.baudrate_bootloader_flash != self.baudrate_bootloader: |
||||
print("Setting baudrate to %u" % self.baudrate_bootloader_flash) |
||||
self.__setbaud(self.baudrate_bootloader_flash) |
||||
self.port.baudrate = self.baudrate_bootloader_flash |
||||
self.__sync() |
||||
|
||||
self.__erase("Erase ") |
||||
self.__program("Program", fw) |
||||
|
||||
if self.bl_rev == 2: |
||||
self.__verify_v2("Verify ", fw) |
||||
else: |
||||
self.__verify_v3("Verify ", fw) |
||||
|
||||
if boot_delay is not None: |
||||
self.__set_boot_delay(boot_delay) |
||||
|
||||
print("\nRebooting.\n") |
||||
self.__reboot() |
||||
self.port.close() |
||||
|
||||
def __next_baud_flightstack(self): |
||||
self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1 |
||||
if self.baudrate_flightstack_idx >= len(self.baudrate_flightstack): |
||||
return False |
||||
|
||||
self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx] |
||||
|
||||
return True |
||||
|
||||
def send_reboot(self): |
||||
if (not self.__next_baud_flightstack()): |
||||
return False |
||||
|
||||
print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr) |
||||
print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr) |
||||
|
||||
try: |
||||
# try MAVLINK command first |
||||
self.port.flush() |
||||
self.__send(uploader.MAVLINK_REBOOT_ID1) |
||||
self.__send(uploader.MAVLINK_REBOOT_ID0) |
||||
# then try reboot via NSH |
||||
self.__send(uploader.NSH_INIT) |
||||
self.__send(uploader.NSH_REBOOT_BL) |
||||
self.__send(uploader.NSH_INIT) |
||||
self.__send(uploader.NSH_REBOOT) |
||||
self.port.flush() |
||||
self.port.baudrate = self.baudrate_bootloader |
||||
except: |
||||
try: |
||||
self.port.flush() |
||||
self.port.baudrate = self.baudrate_bootloader |
||||
except Exception: |
||||
pass |
||||
|
||||
return True |
||||
|
||||
|
||||
def main(): |
||||
|
||||
# Parse commandline arguments |
||||
parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.") |
||||
parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached") |
||||
parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.") |
||||
parser.add_argument('--baud-bootloader-flash', action="store", type=int, default=None, help="Attempt to negotiate this baudrate with bootloader for flashing.") |
||||
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.") |
||||
parser.add_argument('--force', action='store_true', default=False, help='Override board type check and continue loading') |
||||
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash') |
||||
parser.add_argument('firmware', action="store", help="Firmware file to be uploaded") |
||||
args = parser.parse_args() |
||||
|
||||
# warn people about ModemManager which interferes badly with Pixhawk |
||||
if os.path.exists("/usr/sbin/ModemManager"): |
||||
print("==========================================================================================================") |
||||
print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)") |
||||
print("==========================================================================================================") |
||||
|
||||
# Load the firmware file |
||||
fw = firmware(args.firmware) |
||||
print("Loaded firmware for %x,%x, size: %d bytes, waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'))) |
||||
print("If the board does not respond within 1-2 seconds, unplug and re-plug the USB connector.") |
||||
|
||||
# Spin waiting for a device to show up |
||||
try: |
||||
while True: |
||||
portlist = [] |
||||
patterns = args.port.split(",") |
||||
# on unix-like platforms use glob to support wildcard ports. This allows |
||||
# the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from |
||||
# causing modem hangups etc |
||||
if "linux" in _platform or "darwin" in _platform: |
||||
import glob |
||||
for pattern in patterns: |
||||
portlist += glob.glob(pattern) |
||||
else: |
||||
portlist = patterns |
||||
|
||||
baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')] |
||||
|
||||
for port in portlist: |
||||
|
||||
# print("Trying %s" % port) |
||||
|
||||
# create an uploader attached to the port |
||||
try: |
||||
if "linux" in _platform: |
||||
# Linux, don't open Mac OS and Win ports |
||||
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash) |
||||
elif "darwin" in _platform: |
||||
# OS X, don't open Windows and Linux ports |
||||
if "COM" not in port and "ACM" not in port: |
||||
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash) |
||||
elif "win" in _platform: |
||||
# Windows, don't open POSIX ports |
||||
if "/" not in port: |
||||
up = uploader(port, args.baud_bootloader, baud_flightstack, args.baud_bootloader_flash) |
||||
except Exception: |
||||
# open failed, rate-limit our attempts |
||||
time.sleep(0.05) |
||||
|
||||
# and loop to the next port |
||||
continue |
||||
|
||||
found_bootloader = False |
||||
while (True): |
||||
up.open() |
||||
|
||||
# port is open, try talking to it |
||||
try: |
||||
# identify the bootloader |
||||
up.identify() |
||||
found_bootloader = True |
||||
print("Found board %x,%x bootloader rev %x on %s" % (up.board_type, up.board_rev, up.bl_rev, port)) |
||||
break |
||||
|
||||
except Exception: |
||||
|
||||
if not up.send_reboot(): |
||||
break |
||||
|
||||
# wait for the reboot, without we might run into Serial I/O Error 5 |
||||
time.sleep(0.25) |
||||
|
||||
# always close the port |
||||
up.close() |
||||
|
||||
# wait for the close, without we might run into Serial I/O Error 6 |
||||
time.sleep(0.3) |
||||
|
||||
if not found_bootloader: |
||||
# Go to the next port |
||||
continue |
||||
|
||||
try: |
||||
# ok, we have a bootloader, try flashing it |
||||
up.upload(fw, force=args.force, boot_delay=args.boot_delay) |
||||
|
||||
except RuntimeError as ex: |
||||
# print the error |
||||
print("\nERROR: %s" % ex.args) |
||||
|
||||
except IOError: |
||||
up.close() |
||||
continue |
||||
|
||||
finally: |
||||
# always close the port |
||||
up.close() |
||||
|
||||
# we could loop here if we wanted to wait for more boards... |
||||
sys.exit(0) |
||||
|
||||
# Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU |
||||
time.sleep(0.05) |
||||
|
||||
# CTRL+C aborts the upload/spin-lock by interrupt mechanics |
||||
except KeyboardInterrupt: |
||||
print("\n Upload aborted by user.") |
||||
sys.exit(0) |
||||
|
||||
if __name__ == '__main__': |
||||
main() |
||||
|
||||
# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4 |
||||
Loading…
Reference in new issue